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Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_21states.h')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_21states.h | 247 |
1 files changed, 0 insertions, 247 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_21states.h b/src/modules/ekf_att_pos_estimator/estimator_21states.h deleted file mode 100644 index a19ff1995..000000000 --- a/src/modules/ekf_att_pos_estimator/estimator_21states.h +++ /dev/null @@ -1,247 +0,0 @@ -#pragma once - -#include "estimator_utilities.h" - -class AttPosEKF { - -public: - - AttPosEKF(); - ~AttPosEKF(); - - /* ############################################## - * - * M A I N F I L T E R P A R A M E T E R S - * - * ########################################### */ - - /* - * parameters are defined here and initialised in - * the InitialiseParameters() (which is just 20 lines down) - */ - - float covTimeStepMax; // maximum time allowed between covariance predictions - float covDelAngMax; // maximum delta angle between covariance predictions - float rngFinderPitch; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis. - - float yawVarScale; - float windVelSigma; - float dAngBiasSigma; - float dVelBiasSigma; - float magEarthSigma; - float magBodySigma; - float gndHgtSigma; - - float vneSigma; - float vdSigma; - float posNeSigma; - float posDSigma; - float magMeasurementSigma; - float airspeedMeasurementSigma; - - float gyroProcessNoise; - float accelProcessNoise; - - float EAS2TAS; // ratio f true to equivalent airspeed - - void InitialiseParameters() - { - covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions - covDelAngMax = 0.02f; // maximum delta angle between covariance predictions - rngFinderPitch = 0.0f; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis. - EAS2TAS = 1.0f; - - yawVarScale = 1.0f; - windVelSigma = 0.1f; - dAngBiasSigma = 5.0e-7f; - dVelBiasSigma = 1e-4f; - magEarthSigma = 3.0e-4f; - magBodySigma = 3.0e-4f; - gndHgtSigma = 0.02f; // assume 2% terrain gradient 1-sigma - - vneSigma = 0.2f; - vdSigma = 0.3f; - posNeSigma = 2.0f; - posDSigma = 2.0f; - - magMeasurementSigma = 0.05; - airspeedMeasurementSigma = 1.4f; - gyroProcessNoise = 1.4544411e-2f; - accelProcessNoise = 0.5f; - } - - // Global variables - float KH[n_states][n_states]; // intermediate result used for covariance updates - float KHP[n_states][n_states]; // intermediate result used for covariance updates - float P[n_states][n_states]; // covariance matrix - float Kfusion[n_states]; // Kalman gains - float states[n_states]; // state matrix - float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps - uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored - - float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements - float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements - float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement - float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time - float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time - - Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad) - Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s) - Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad) - Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s) - float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2) - Vector3f earthRateNED; // earths angular rate vector in NED (rad/s) - Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s) - Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2) - Vector3f dVelIMU; - Vector3f dAngIMU; - float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec) - uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity - float innovVelPos[6]; // innovation output - float varInnovVelPos[6]; // innovation variance output - - float velNED[3]; // North, East, Down velocity obs (m/s) - float posNE[2]; // North, East position obs (m) - float hgtMea; // measured height (m) - float posNED[3]; // North, East Down position (m) - - float innovMag[3]; // innovation output - float varInnovMag[3]; // innovation variance output - Vector3f magData; // magnetometer flux radings in X,Y,Z body axes - float innovVtas; // innovation output - float varInnovVtas; // innovation variance output - float VtasMeas; // true airspeed measurement (m/s) - float magDeclination; - float latRef; // WGS-84 latitude of reference point (rad) - float lonRef; // WGS-84 longitude of reference point (rad) - float hgtRef; // WGS-84 height of reference point (m) - Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes - uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction - - // GPS input data variables - float gpsCourse; - float gpsVelD; - float gpsLat; - float gpsLon; - float gpsHgt; - uint8_t GPSstatus; - - // Baro input - float baroHgt; - - bool statesInitialised; - - bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused - bool fusePosData; // this boolean causes the posNE and velNED obs to be fused - bool fuseHgtData; // this boolean causes the hgtMea obs to be fused - bool fuseMagData; // boolean true when magnetometer data is to be fused - bool fuseVtasData; // boolean true when airspeed data is to be fused - - bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying) - bool staticMode; ///< boolean true if no position feedback is fused - bool useAirspeed; ///< boolean true if airspeed data is being used - bool useCompass; ///< boolean true if magnetometer data is being used - - struct ekf_status_report current_ekf_state; - struct ekf_status_report last_ekf_error; - - bool numericalProtection; - - unsigned storeIndex; - - -void UpdateStrapdownEquationsNED(); - -void CovariancePrediction(float dt); - -void FuseVelposNED(); - -void FuseMagnetometer(); - -void FuseAirspeed(); - -void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); - -void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); - -void quatNorm(float (&quatOut)[4], const float quatIn[4]); - -// store staes along with system time stamp in msces -void StoreStates(uint64_t timestamp_ms); - -/** - * Recall the state vector. - * - * Recalls the vector stored at closest time to the one specified by msec - * - * @return zero on success, integer indicating the number of invalid states on failure. - * Does only copy valid states, if the statesForFusion vector was initialized - * correctly by the caller, the result can be safely used, but is a mixture - * time-wise where valid states were updated and invalid remained at the old - * value. - */ -int RecallStates(float statesForFusion[n_states], uint64_t msec); - -void ResetStoredStates(); - -void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]); - -void calcEarthRateNED(Vector3f &omega, float latitude); - -static void eul2quat(float (&quat)[4], const float (&eul)[3]); - -static void quat2eul(float (&eul)[3], const float (&quat)[4]); - -static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD); - -static void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef); - -static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef); - -static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]); - -static float sq(float valIn); - -void OnGroundCheck(); - -void CovarianceInit(); - -void InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination); - -float ConstrainFloat(float val, float min, float max); - -void ConstrainVariances(); - -void ConstrainStates(); - -void ForceSymmetry(); - -int CheckAndBound(); - -void ResetPosition(); - -void ResetVelocity(); - -void ZeroVariables(); - -void GetFilterState(struct ekf_status_report *state); - -void GetLastErrorState(struct ekf_status_report *last_error); - -bool StatesNaN(struct ekf_status_report *err_report); -void FillErrorReport(struct ekf_status_report *err); - -void InitializeDynamic(float (&initvelNED)[3], float declination); - -protected: - -bool FilterHealthy(); - -void ResetHeight(void); - -void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat); - -}; - -uint32_t millis(); - |